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Tests fixes, the library should compile now

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This commit is contained in:
Pavel Kirienko
2015-07-08 23:33:41 +03:00
parent ece4cfc196
commit 88cf10d5a1
7 changed files with 27 additions and 27 deletions
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libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
+1 -2
View File
@@ -212,8 +212,7 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
virtual void handleNodeStatusChange(const NodeStatusMonitor::NodeStatusChangeEvent& event)
{
if (event.status.status_code == protocol::NodeStatus::STATUS_OFFLINE ||
!event.status.known)
if (event.status.mode == protocol::NodeStatus::MODE_OFFLINE)
{
pending_nodes_.remove(event.node_id);
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d is offline hence forgotten", int(event.node_id.get()));
libuavcan/test/node/node.cpp
+2 -2
View File
@@ -58,7 +58,7 @@ TEST(Node, Basic)
* Init the second node - network is empty
*/
ASSERT_LE(0, node2.start());
ASSERT_FALSE(node_status_monitor.findNodeWithWorstStatus().isValid());
ASSERT_FALSE(node_status_monitor.findNodeWithWorstHealth().isValid());
/*
* Init the first node
@@ -70,7 +70,7 @@ TEST(Node, Basic)
ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstHealth().get());
/*
* Some logging
libuavcan/test/node/sub_node.cpp
+1 -1
View File
@@ -61,7 +61,7 @@ TEST(SubNode, Basic)
ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstHealth().get());
/*
* Some logging
libuavcan/test/protocol/node_info_retriever.cpp
+19 -18
View File
@@ -13,11 +13,12 @@
#include <uavcan/protocol/node_status_provider.hpp>
#include "helpers.hpp"
static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id,
uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
{
uavcan::protocol::NodeStatus msg;
msg.status_code = status_code;
msg.health = uavcan::protocol::NodeStatus::HEALTH_OK;
msg.mode = uavcan::protocol::NodeStatus::MODE_OPERATIONAL;
msg.uptime_sec = uptime_sec;
emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
}
@@ -55,7 +56,7 @@ struct NodeInfoListener : public uavcan::INodeInfoListener
virtual void handleNodeStatusChange(const uavcan::NodeStatusMonitor::NodeStatusChangeEvent& event)
{
std::cout << "NODE " << int(event.node_id.get()) << " STATUS CHANGE: "
<< int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
<< event.old_status.toString() << " --> " << event.status.toString() << std::endl;
status_change_cnt++;
}
@@ -137,9 +138,9 @@ TEST(NodeInfoRetriever, Basic)
uavcan::TransferID tid;
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -151,9 +152,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -165,9 +166,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid); // Reset
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid); // Reset
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -183,7 +184,7 @@ TEST(NodeInfoRetriever, Basic)
EXPECT_EQ(2, listener.info_unavailable_cnt);
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(1, retr.getNumPendingRequests());
@@ -193,7 +194,7 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 12, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_FALSE(retr.isRetrievingInProgress()); // Out of attempts, stopping
@@ -214,9 +215,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_EQ(0, retr.getNumPendingRequests());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 60, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
@@ -261,7 +262,7 @@ TEST(NodeInfoRetriever, MaxConcurrentRequests)
*/
for (uint8_t node_id = 1U; node_id <= 127U; node_id++)
{
publishNodeStatus(nodes.can_a, node_id, 0, 0, uavcan::TransferID());
publishNodeStatus(nodes.can_a, node_id, 0, uavcan::TransferID());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp
+1 -1
View File
@@ -65,7 +65,7 @@ uavcan_linux::NodePtr initNodeWithDynamicID(const std::vector<std::string>& ifac
*/
node->setNodeID(client.getAllocatedNodeID());
node->setStatusOk();
node->setModeOperational();
return node;
}
libuavcan_drivers/linux/apps/test_multithreading.cpp
+2 -2
View File
@@ -406,7 +406,7 @@ static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces
const int start_res = node->start();
ENFORCE(0 == start_res);
node->setStatusOk();
node->setModeOperational();
return node;
}
@@ -483,7 +483,7 @@ static void runSubNode(const uavcan_linux::SubNodePtr& node)
virtual void handleNodeStatusChange(const NodeStatusChangeEvent& event) override
{
std::cout << "Remote node NID " << int(event.node_id.get()) << " changed status: "
<< int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
<< event.old_status.toString() << " --> " << event.status.toString() << std::endl;
}
};
NodeStatusMonitor nsm(*node);
libuavcan_drivers/linux/apps/test_node.cpp
+1 -1
View File
@@ -33,7 +33,7 @@ static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, ua
/*
* Say Hi to the world.
*/
node->setStatusOk();
node->setModeOperational();
node->logInfo("init", "Hello world! I'm [%*], NID %*",
node->getNodeStatusProvider().getName().c_str(), int(node->getNodeID().get()));
return node;